dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

Set better defaults for fixed wing position controllers

This commit is contained in:
Lorenz Meier 2015-07-04 11:39:31 +02:00
parent ec85918e40
commit 3671ce716a
1 changed files with 13 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

17
src/modules/fw_pos_control_l1/fw_pos_control_l1_params.c
View File

@ -58,7 +58,7 @@
* @max 100.0
* @group L1 Control
*/
PARAM_DEFINE_FLOAT(FW_L1_PERIOD, 25.0f);
PARAM_DEFINE_FLOAT(FW_L1_PERIOD, 20.0f);
/**
* L1 damping
@ -80,7 +80,7 @@ PARAM_DEFINE_FLOAT(FW_L1_DAMPING, 0.75f);
* @max 1.0
* @group L1 Control
*/
PARAM_DEFINE_FLOAT(FW_THR_CRUISE, 0.7f);
PARAM_DEFINE_FLOAT(FW_THR_CRUISE, 0.6f);
/**
* Throttle max slew rate
@ -123,10 +123,11 @@ PARAM_DEFINE_FLOAT(FW_P_LIM_MAX, 45.0f);
* The maximum roll the controller will output.
*
* @unit degrees
* @min 0.0
* @min 35.0
* @max 65.0
* @group L1 Control
*/
PARAM_DEFINE_FLOAT(FW_R_LIM, 45.0f);
PARAM_DEFINE_FLOAT(FW_R_LIM, 50.0f);
/**
* Throttle limit max
@ -151,6 +152,8 @@ PARAM_DEFINE_FLOAT(FW_THR_MAX, 1.0f);
* For aircraft with internal combustion engine this parameter should be set
* for desired idle rpm.
*
* @min 0.0
* @max 1.0
* @group L1 Control
*/
PARAM_DEFINE_FLOAT(FW_THR_MIN, 0.0f);
@ -161,6 +164,8 @@ PARAM_DEFINE_FLOAT(FW_THR_MIN, 0.0f);
* This throttle value will be set as throttle limit at FW_LND_TLALT,
* before arcraft will flare.
*
* @min 0.0
* @max 1.0
* @group L1 Control
*/
PARAM_DEFINE_FLOAT(FW_THR_LND_MAX, 1.0f);
@ -173,6 +178,8 @@ PARAM_DEFINE_FLOAT(FW_THR_LND_MAX, 1.0f);
* distance to the desired altitude. Mostly used for takeoff waypoints / modes.
* Set to zero to disable climbout mode (not recommended).
*
* @min 0.0
* @max 150.0
* @group L1 Control
*/
PARAM_DEFINE_FLOAT(FW_CLMBOUT_DIFF, 25.0f);
@ -193,6 +200,8 @@ PARAM_DEFINE_FLOAT(FW_CLMBOUT_DIFF, 25.0f);
* FW_THR_MAX, then either FW_T_CLMB_MAX should be increased or
* FW_THR_MAX reduced.
*
* @min 2.0
* @max 10.0
* @group L1 Control
*/
PARAM_DEFINE_FLOAT(FW_T_CLMB_MAX, 5.0f);